Add examples

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(ap_planning_examples)
+
+add_compile_options(-std=c++17)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  ap_planning
+  moveit_visual_tools
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ap_planning_examples
+#  CATKIN_DEPENDS ap_planning
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(panda_demo src/panda_demo.cpp)
+target_link_libraries(panda_demo ${catkin_LIBRARIES})
+
+add_executable(chained_screws_demo src/chained_screws_demo.cpp)
+target_link_libraries(chained_screws_demo ${catkin_LIBRARIES})
+
+add_executable(unchained_screws_demo src/unchained_screws_demo.cpp)
+target_link_libraries(unchained_screws_demo ${catkin_LIBRARIES})
+
+add_executable(multi_constraint_tester src/multi_constraint_tester.cpp)
+target_link_libraries(multi_constraint_tester ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+install(
+  TARGETS chained_screws_demo multi_constraint_tester panda_demo unchained_screws_demo
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+

config/multi_constraint.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 548
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: /multi_constraint_tester/update
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: false
+      Length: 0.5
+      Name: Axes
+      Radius: 0.029999999329447746
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /rviz_visual_tools
+      Name: MarkerArray
+      Namespaces:
+        Arrow: true
+        Axis: true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.885328769683838
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.16111618280410767
+        Y: 0.2344551682472229
+        Z: -0.4010162055492401
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6853979825973511
+      Target Frame: <Fixed Frame>
+      Yaw: 0.6853980422019958
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 845
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002affc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002af000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002af000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ab0000003efc0100000002fb0000000800540069006d00650100000000000005ab000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000033a000002af00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1451
+  X: 1532
+  Y: 308